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8,126 Commits 19 Branches 27 Tags 326 MiB
7ad19fde6f
Commit Graph

1216 Commits

Author SHA1 Message Date
Xuchen Han
7ad19fde6f formatting 2020-02-26 14:16:51 -08:00
Xuchen Han
84117b8440 separate motor constraint iterations and expose API 2020-02-26 14:11:41 -08:00
Erwin Coumans
e29ba9fe5c add option to merge fixed links in URDF file (improves performance, can handle URDF files with many fixed links) 
add option to ignore visual and collision shapes in URDF file
 2020-02-21 15:04:26 -08:00
Erwin Coumans
6910fc9229 initialize capsule from_to field 2020-02-21 02:05:01 -08:00
Erwin Coumans
0617f4f3cd expose computeDofCount to pybullet 
expose computeDofCount and calculateMassMatrix to BulletRobotics C++ API
(all untested)
 2020-02-14 19:58:32 -08:00
Erwin Coumans
6afa0a463d unsupported: expose collisionMargin to changeDynamics/getDynamicsInfo. 
add cube_convex.urdf for testing this collisionMargin. Test script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_implicit.urdf")
cube = p.loadURDF("cube_convex.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
	p.stepSimulation()
	pts = p.getContactPoints()
	p.changeDynamics(plane,-1,collisionMargin=0.3)
	p.changeDynamics(cube,-1,collisionMargin=0.3)
	print("===================")
	print("cube pos=", p.getBasePositionAndOrientation(cube)[0])
	print("margin=", p.getDynamicsInfo(plane,-1)[11])
	#time.sleep(1./10.)
 2020-02-14 17:36:40 -08:00
erwincoumans
b809cdef5b
Merge pull request #2608 from erwincoumans/master 
implement b3RobotSimulatorClientAPI_NoDirect::createVisualShape
 2020-02-06 09:00:05 -08:00
Erwin Coumans
d0f895fbbd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-02-04 20:59:26 -08:00
Erwin Coumans
401abd9ebc implement b3RobotSimulatorClientAPI_NoDirect::createVisualShape 2020-02-04 20:58:15 -08:00
Tigran Gasparian
19075f75b2 Only clear the user data cache when a full user data sync is requested. 2020-02-03 15:24:12 +01:00
erwincoumans
7380a55ba7
Merge pull request #2594 from RanTig/SyncSingleBodyUserData 
Adds an option to syncUserData to specify the bodies for which to sync.
 2020-01-29 19:23:44 -08:00
erwincoumans
9ac1dd6194
Merge pull request #2597 from erwincoumans/master 
made char* in addUserDebugParameter const
 2020-01-24 09:45:35 -08:00
Erwin Coumans
4c6e3daf5e made char* in addUserDebugParameter const 2020-01-24 08:43:20 -08:00
Tigran Gasparian
2403a22ebf Bump up shared memory magic number. 2020-01-23 16:58:32 +01:00
Tigran Gasparian
34db76d263 Adds an option to syncUserData to specify the bodies for which to sync. 2020-01-23 14:46:33 +01:00
Tigran Gasparian
899d53ee29 Added null check. 2020-01-21 19:40:22 +01:00
Tigran Gasparian
68d3fb28e0 Adds support for loading user data from URDF files. 2020-01-17 11:55:42 +01:00
erwincoumans
66ffa329c8
Merge pull request #2577 from xhan0619/master 
Add position error into deformable vs. rigid contact
 2020-01-11 16:05:15 -08:00
erwincoumans
a9615258d3
Merge pull request #2580 from erwincoumans/master 
add --mp4fps=30 command line parameter for ExampleBrowser, various other fixes
 2020-01-11 15:14:11 -08:00
Erwin Coumans
2336dfcb9e Remove a temporary global static work matrix in the BussIK, since it conflicts with multithreaded applications. 
Instead, let the user pass it in explicitly.
 2020-01-11 12:43:27 -08:00
erwincoumans
88826da6b5
Merge pull request #2576 from dmcconachie/DeformableGravity 
[BUGFIX] Update existing deformable gravity forces on gravity change.
 2020-01-09 21:30:48 -08:00
Erwin Coumans
8ebdf7862c fix b3RobotSimulatorClientAPI_NoDirect::changeConstraint API 2020-01-09 17:56:21 -08:00
Dale McConachie
b526c01bec Update existing deformable gravity forces on gravity change. 2020-01-09 16:24:32 -05:00
Erwin Coumans
5cd4647943 fix submitProfileTiming API in b3RobotSimulatorClientAPI_NoDirect 2020-01-09 10:40:14 -08:00
Erwin Coumans
07cdae8c6e also apply TinyRenderer remove shape fix for rigid body and soft body/deformable 2020-01-08 14:02:32 -08:00
Erwin Coumans
6fde189735 fix indexing issue removing graphics shape in tinyrenderer plugin (use getUserIndex3 instead of broadphase uid) 2020-01-08 13:49:41 -08:00
Xuchen Han
78a8ddb466 change default damping model for mass spring to the angular momentum conserving one 2019-12-31 14:08:21 -08:00
erwincoumans
830f0a9565
Merge pull request #2550 from xhan0619/master 
Group deformable constraint solves by islands
 2019-12-20 16:26:32 -08:00
Xuchen Han
6a8973d2f4 address PR comment and tune parameters for cloth 2019-12-19 21:51:54 -08:00
Erwin Coumans
7a4023430a fix pybullet.submitProfileTiming 2019-12-19 18:05:41 -08:00
Erwin Coumans
9c7e6d6a48 enable programmatic creation of spherical joint 2019-12-19 16:56:09 -08:00
Xuchen Han
4ab0387262 Merge remote-tracking branch 'origin/master' 
merge origin/master
 2019-12-18 23:18:16 -08:00
erwincoumans
7584847f33
Merge pull request #2537 from erwincoumans/master 
fix pybullet_envs path, pybullet version to 2.6.0, allow clang-cl on Windows
 2019-12-17 19:06:11 -08:00
Xuchen Han
f65a8b03c0 separate deformable contact solve by islands WIP 2019-12-17 18:27:23 -08:00
Chuyuan Fu
0f477e27ae add link index to setdamping C APIs. If link index is not set, the command is igored for rigidbody 2019-12-17 13:48:34 -08:00
Xuchen Han
d38ea87027 add gripper with deformable cloth demo 2019-12-13 14:33:54 -08:00
Erwin Coumans
202cf18995 allow to compile using clang-cl on visual studio (disable SSE) 2019-12-11 13:07:53 -08:00
erwincoumans
44f21e462a
Merge pull request #2509 from xhan0619/separate-bending-stiffness 
Separate in-plane and bending stiffness for mass spring model
 2019-12-04 07:34:28 -08:00
Erwin Coumans
cf67e7af0a Merge remote-tracking branch 'bp/master' 2019-11-29 08:06:53 -08:00
Xuchen Han
8fde74ecea update SHARED_MEMORY_MAGIC_NUMBER 2019-11-28 12:14:40 -08:00
Xuchen Han
7bce5d61f4 separate in-plane and bending stiffness for mass spring model for easier parameter tuning 2019-11-27 11:40:10 -08:00
Xuchen Han
39df98465e set a smaller dt for deformable_ball.py for stability and typo fix 2019-11-25 17:07:00 -08:00
Xuchen Han
abd7a556e1 Merge remote-tracking branch 'origin/master' 2019-11-25 15:29:25 -08:00
Erwin Coumans
d9ab536682 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-11-21 19:37:11 -08:00
Erwin Coumans
824fd6410f Use -> Set in API 2019-11-21 19:07:11 -08:00
erwincoumans
574343405d
Merge pull request #2499 from xhan0619/fix-render-mesh 
Fix render mesh
 2019-11-21 16:38:54 -08:00
Xuchen Han
fa7cb25c95 revert the default world to SOFT_MULTIBODY_WORLD 2019-11-20 23:47:15 -08:00
Chuyuan Fu
593fc872ab get correct AABB for softbody 2019-11-20 16:42:04 -08:00
Xuchen Han
00add5490f fix separate render and sim mesh 2019-11-19 23:10:08 -08:00
Xuchen Han
64e5e007e3 load render mesh from command 2019-11-19 21:07:26 -08:00